├── .devcontainer └── devcontainer.json ├── .dockerignore ├── .github ├── ISSUE_TEMPLATE │ └── general-issue.md └── workflows │ ├── main.yml │ └── publish-image.yml ├── .gitignore ├── .vscode ├── README.md ├── c_cpp_properties.json └── settings.json ├── COMMANDS.md ├── Dockerfile ├── LICENSE ├── README.md ├── Route.csv ├── bag.bash ├── data ├── TestTraj_Minidemo.txt ├── egm96_15.gtx ├── fastrtps.xml ├── hail_bopp.urdf ├── hailbopp.stl ├── map.xodr ├── maps │ ├── campus.xodr │ ├── full_loop_1.txt │ ├── full_loop_2_better.txt │ ├── junction_wkt.txt │ ├── lot_t.txt │ ├── lot_u_route.txt │ ├── parking_lot_wkt.txt │ ├── ps4_loop_route.txt │ ├── route_wkt.txt │ ├── route_wkt_old.txt │ └── skinny_lot.txt ├── navigator_default.rviz ├── object_detection_tracking.rviz ├── perception │ ├── _base_ │ │ ├── datasets │ │ │ ├── bdd100k.py │ │ │ └── bdd100k_512x1024.py │ │ ├── default_runtime.py │ │ ├── models │ │ │ ├── apcnet_r50-d8.py │ │ │ ├── ccnet_r50-d8.py │ │ │ ├── danet_r50-d8.py │ │ │ ├── deeplabv3_r50-d8.py │ │ │ ├── deeplabv3plus_r50-d8.py │ │ │ ├── dmnet_r50-d8.py │ │ │ ├── dnl_r50-d8.py │ │ │ ├── emanet_r50-d8.py │ │ │ ├── fcn_hr18.py │ │ │ ├── fcn_r50-d8.py │ │ │ ├── fpn_r50.py │ │ │ ├── gcnet_r50-d8.py │ │ │ ├── nonlocal_r50-d8.py │ │ │ ├── pointrend_r50.py │ │ │ ├── psanet_r50-d8.py │ │ │ ├── pspnet_r50-d8.py │ │ │ ├── upernet_convnext.py │ │ │ ├── upernet_r50.py │ │ │ └── upernet_swin.py │ │ └── schedules │ │ │ ├── schedule_40k.py │ │ │ └── schedule_80k.py │ ├── configs │ │ ├── complex_yolov4.cfg │ │ └── pointpillars_hv_secfpn_8xb6-160e_kitti-3d-3class.py │ └── models │ │ ├── .gitignore │ │ └── driveable_area_config.py ├── real_world.rviz ├── routes_devtest.xml └── sounds │ ├── alert.wav │ ├── auto_on.wav │ ├── disable.wav │ ├── teleop_on.wav │ ├── waiting.wav │ ├── waiting_done.wav │ └── waiting_loop.wav ├── docker-compose.yml ├── docker ├── ML.Dockerfile ├── carla-ros-bridge │ ├── Dockerfile │ ├── docker-compose.yml │ ├── entrypoint.sh │ └── launch │ │ ├── carla_bridge.launch.py │ │ └── carla_objects.json └── entrypoint.sh ├── docs ├── 404.html ├── Contributing │ ├── Weekly_Updates.md │ ├── developer-etiquette.md │ ├── index.md │ ├── tricks.md │ ├── troubleshooting.md │ └── writing-documentation.md ├── Controls │ ├── epas.md │ ├── index.md │ ├── joy_translation.md │ ├── linear_actuator.md │ └── mcu_interface.md ├── Gemfile ├── Gemfile.lock ├── Mapping │ ├── index.md │ ├── map_management.md │ ├── offline_lidar_slam.md │ ├── routes.md │ └── routing_monitor.md ├── Miscellaneous │ ├── guardian_documentation.md │ └── index.md ├── Perception │ ├── drivable_surface_segmentation.md │ ├── gnss_interface.md │ ├── ground_segmentation.md │ ├── index.md │ ├── lane_type_detection.md │ ├── lidar_detection.md │ ├── lidar_processor.md │ ├── multi_object_tracker_3d.md │ ├── pedestrian_intent_to_enter_road.md │ ├── pedestrian_skeleton.md │ ├── road_signs_classifier.md │ ├── road_user_detection.md │ ├── static_occupancy_node.md │ └── traffic_light_detector.md ├── Planning │ ├── airbag.md │ ├── grid_summation.md │ ├── index.md │ ├── intersection_manager.md │ ├── junction_manager.md │ └── rtp.md ├── Sensors │ └── index.md ├── Tools │ ├── index.md │ └── third-party-subtrees.md ├── _config.yml ├── _includes │ └── head_custom.html ├── _sass │ └── color_schemes │ │ └── novalicious.scss ├── assets │ └── res │ │ ├── Adafruit.jpg │ │ ├── Adafruit.png │ │ ├── BPC_flow.png │ │ ├── EPAS.jpg │ │ ├── Full Nova Schematic.jpg │ │ ├── Nova Schematics -Adafruit.drawio.png │ │ ├── Power.jpg │ │ ├── USB Hub.jpg │ │ ├── airbags.png │ │ ├── airbags.xcf │ │ ├── bpc_cl_rrt.png │ │ ├── bpc_cost_map_method.png │ │ ├── bpc_rrt2_algo.png │ │ ├── bpc_rrt_algo.png │ │ ├── bpc_rrt_cost.png │ │ ├── bpc_rrt_vs.png │ │ ├── bpc_surrounding_environment_rep_options.png │ │ ├── canBusSystem.jpg │ │ ├── cost_map_size.jpg │ │ ├── cost_maps.png │ │ ├── favicon.png │ │ ├── logo-alt.gif │ │ ├── logo.png │ │ ├── logo_text.png │ │ ├── navigator_diagram.jpg │ │ ├── perception_flow.jpeg │ │ ├── perception_flow_prednet.png │ │ ├── progressive_map_resolution.drawio.png │ │ ├── routing-sections.png │ │ ├── system-structure.png │ │ ├── v1_2_structure-vehicle.drawio.png │ │ └── v1_2_structure.drawio.png ├── docs.sh ├── index.md ├── messages.md ├── onboarding │ ├── expectations.md │ ├── index.md │ ├── onramp.md │ ├── opendoor.md │ ├── quad.md │ ├── ssh_tutorial.mp4 │ └── turtlesim_demo.mp4 ├── system-overview.md ├── template.md ├── topics.md └── vendor │ └── bundle │ └── ruby │ └── 2.7.0 │ └── gems │ ├── em-websocket-0.5.3 │ └── em-websocket.gemspec │ ├── ffi-1.15.4 │ └── ext │ │ └── ffi_c │ │ └── libffi │ │ ├── Makefile.in │ │ ├── configure │ │ ├── doc │ │ └── Makefile.in │ │ ├── fficonfig.h.in │ │ ├── include │ │ └── Makefile.in │ │ ├── install-sh │ │ ├── libtool-ldflags │ │ ├── ltmain.sh │ │ ├── man │ │ └── Makefile.in │ │ ├── missing │ │ ├── msvc_build │ │ └── aarch64 │ │ │ └── aarch64_include │ │ │ └── fficonfig.h │ │ └── testsuite │ │ └── Makefile.in │ ├── ffi-1.15.5 │ └── ext │ │ └── ffi_c │ │ └── libffi │ │ ├── Makefile.in │ │ ├── configure │ │ ├── doc │ │ └── Makefile.in │ │ ├── fficonfig.h.in │ │ ├── include │ │ └── Makefile.in │ │ ├── install-sh │ │ ├── libtool-ldflags │ │ ├── ltmain.sh │ │ ├── man │ │ └── Makefile.in │ │ ├── missing │ │ ├── msvc_build │ │ └── aarch64 │ │ │ └── aarch64_include │ │ │ └── fficonfig.h │ │ └── testsuite │ │ └── Makefile.in │ ├── http_parser.rb-0.6.0 │ └── ext │ │ └── ruby_http_parser │ │ └── vendor │ │ ├── http-parser-java │ │ ├── Makefile │ │ └── ext │ │ │ └── primitives.jar │ │ └── http-parser │ │ └── Makefile │ ├── http_parser.rb-0.8.0 │ ├── ext │ │ └── ruby_http_parser │ │ │ ├── Makefile │ │ │ ├── ruby_http_parser.o │ │ │ ├── ruby_http_parser.so │ │ │ ├── ryah_http_parser.c │ │ │ ├── ryah_http_parser.h │ │ │ ├── ryah_http_parser.o │ │ │ └── vendor │ │ │ ├── http-parser-java │ │ │ ├── Makefile │ │ │ └── ext │ │ │ │ └── primitives.jar │ │ │ └── http-parser │ │ │ └── Makefile │ └── lib │ │ └── ruby_http_parser.so │ └── unf_ext-0.0.8.2 │ ├── ext │ └── unf_ext │ │ ├── Makefile │ │ └── unf_ext.so │ └── lib │ └── unf_ext.so ├── fix.geojson ├── headings.txt ├── launches ├── __init__.py ├── launch.carla.py ├── launch.mapmanager.py ├── launch.nav2.py ├── launch.object3d.py ├── launch.perception.py ├── launch.rviz.py ├── launch.vehicle.py ├── launch_node_definitions.py └── utils.py ├── navigator.py ├── param ├── atlas │ ├── icp_nudger.param.yaml │ ├── lidar_nudger.param.yaml │ ├── map_odom.param.yaml │ └── odom_baselink.param.yaml ├── global_parameters.yaml ├── interface │ ├── can_interface.param.yaml │ ├── epas_controller.param.yaml │ ├── epas_reporter.param.yaml │ ├── speedometer_reporter.param.yaml │ ├── steering_pid_controller.param.yaml │ └── throttle_controller.param.yaml ├── mapping │ ├── lio_sam.param.yaml │ └── odr.param.yaml ├── perception │ ├── lidar_downsampler.param.yaml │ ├── lidar_driver_left.param.yaml │ ├── lidar_driver_right.param.yaml │ ├── lidar_front.param.yaml │ ├── lidar_fusion.param.yaml │ ├── lidar_pointcloud_left.param.yaml │ ├── lidar_pointcloud_right.param.yaml │ ├── lidar_rear.param.yaml │ └── mot3d_params.yaml └── planning │ ├── lane_planner.param.yaml │ ├── nav2.param.yaml │ ├── parking_planner.param.yaml │ └── path_planner.param.yaml ├── params.yaml ├── src ├── control │ ├── parade_controller │ │ ├── package.xml │ │ ├── parade_controller │ │ │ ├── __init__.py │ │ │ └── parade_controller_node.py │ │ ├── resource │ │ │ └── parade_controller │ │ ├── setup.cfg │ │ └── setup.py │ ├── pid_controller │ │ ├── CMakeLists.txt │ │ ├── COLCON_IGNORE │ │ ├── exe │ │ │ └── pid_controller.cpp │ │ ├── include │ │ │ └── pid_controller │ │ │ │ ├── PidController.hpp │ │ │ │ └── PidControllerNode.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── PidController.cpp │ │ │ └── PidControllerNode.cpp │ ├── pure_pursuit_controller │ │ ├── package.xml │ │ ├── pure_pursuit_controller │ │ │ ├── __init__.py │ │ │ └── pure_pursuit_controller_node.py │ │ ├── resource │ │ │ └── pure_pursuit_controller │ │ ├── setup.cfg │ │ └── setup.py │ └── unified_controller │ │ ├── blueprints.txt │ │ ├── package.xml │ │ ├── resource │ │ └── unified_controller │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── unified_controller │ │ ├── __init__.py │ │ └── unified_controller_node.py ├── mapping │ ├── lio_sam │ │ ├── config │ │ │ └── params.yaml │ │ └── src │ │ │ └── imageProjection.cpp │ ├── map_management │ │ ├── CMakeLists.txt │ │ ├── exe │ │ │ └── map_management_node.cpp │ │ ├── include │ │ │ └── map_management │ │ │ │ ├── MapManager.hpp │ │ │ │ └── RouteManager.hpp │ │ ├── package.xml │ │ └── src │ │ │ ├── MapManager.cpp │ │ │ └── RouteManager.cpp │ └── offline_lidar_slam │ │ ├── __init__.py │ │ ├── offline_lidar_slam.py │ │ ├── pose_graph_optimizer.py │ │ ├── rosbags_utils.py │ │ └── view_map.py ├── msg │ ├── delphi_esr_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── migration │ │ │ ├── 0_2.3.1-3.0.1.bmr │ │ │ └── 1_3.1.0-3.2.0.bmr │ │ ├── msg │ │ │ ├── EsrEthTx.msg │ │ │ ├── EsrStatus1.msg │ │ │ ├── EsrStatus2.msg │ │ │ ├── EsrStatus3.msg │ │ │ ├── EsrStatus4.msg │ │ │ ├── EsrStatus5.msg │ │ │ ├── EsrStatus6.msg │ │ │ ├── EsrStatus7.msg │ │ │ ├── EsrStatus8.msg │ │ │ ├── EsrStatus9.msg │ │ │ ├── EsrTrack.msg │ │ │ ├── EsrTrackMotionPowerGroup.msg │ │ │ ├── EsrTrackMotionPowerTrack.msg │ │ │ ├── EsrValid1.msg │ │ │ ├── EsrValid2.msg │ │ │ ├── EsrVehicle1.msg │ │ │ ├── EsrVehicle2.msg │ │ │ ├── EsrVehicle3.msg │ │ │ ├── EsrVehicle4.msg │ │ │ └── EsrVehicle5.msg │ │ └── package.xml │ ├── derived_object_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── Lane.msg │ │ │ ├── LaneModels.msg │ │ │ ├── Object.msg │ │ │ ├── ObjectArray.msg │ │ │ ├── ObjectWithCovariance.msg │ │ │ ├── ObjectWithCovarianceArray.msg │ │ │ └── SolidPrimitiveWithCovariance.msg │ │ └── package.xml │ ├── navigator_msgs │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ ├── AllLaneDetections.msg │ │ │ ├── BoundingBox3D.msg │ │ │ ├── CarlaGnssRoute.msg │ │ │ ├── CarlaRoute.msg │ │ │ ├── CarlaSpeedometer.msg │ │ │ ├── CostedPath.msg │ │ │ ├── CostedPaths.msg │ │ │ ├── Egma.msg │ │ │ ├── FinalPath.msg │ │ │ ├── GPSDiagnostic.msg │ │ │ ├── IntersectionBehavior.msg │ │ │ ├── LaneDetections.msg │ │ │ ├── Masses.msg │ │ │ ├── Mode.msg │ │ │ ├── Object3D.msg │ │ │ ├── Object3DArray.msg │ │ │ ├── PedalPosition.msg │ │ │ ├── PedestrianInfo.msg │ │ │ ├── PedestrianInfoDetections.msg │ │ │ ├── PolygonArray.msg │ │ │ ├── Prediction.msg │ │ │ ├── RadarSpotlight.msg │ │ │ ├── RoadSigns.msg │ │ │ ├── RoadSignsDetection.msg │ │ │ ├── RoadUser.msg │ │ │ ├── RoadUserDetections.msg │ │ │ ├── RouteCost.msg │ │ │ ├── RouteCosts.msg │ │ │ ├── SteeringPosition.msg │ │ │ ├── TrafficLight.msg │ │ │ ├── TrafficLightDetection.msg │ │ │ ├── Trajectories.msg │ │ │ ├── Trajectory.msg │ │ │ ├── TrajectoryPoint.msg │ │ │ ├── VehicleControl.msg │ │ │ └── VehicleSpeed.msg │ │ ├── package.xml │ │ └── srv │ │ │ ├── GetLandmarks.srv │ │ │ └── SetRoute.srv │ └── ros-carla-msgs │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── LICENSE │ │ ├── README.md │ │ ├── msg │ │ ├── CarlaActorInfo.msg │ │ ├── CarlaActorList.msg │ │ ├── CarlaBoundingBox.msg │ │ ├── CarlaCollisionEvent.msg │ │ ├── CarlaControl.msg │ │ ├── CarlaEgoVehicleControl.msg │ │ ├── CarlaEgoVehicleInfo.msg │ │ ├── CarlaEgoVehicleInfoWheel.msg │ │ ├── CarlaEgoVehicleStatus.msg │ │ ├── CarlaLaneInvasionEvent.msg │ │ ├── CarlaStatus.msg │ │ ├── CarlaTrafficLightInfo.msg │ │ ├── CarlaTrafficLightInfoList.msg │ │ ├── CarlaTrafficLightStatus.msg │ │ ├── CarlaTrafficLightStatusList.msg │ │ ├── CarlaWalkerControl.msg │ │ ├── CarlaWeatherParameters.msg │ │ └── CarlaWorldInfo.msg │ │ ├── package.xml │ │ └── srv │ │ ├── DestroyObject.srv │ │ ├── GetBlueprints.srv │ │ └── SpawnObject.srv ├── perception │ ├── drivable_surface_segmentation │ │ ├── depth_processing │ │ │ ├── depth_processing │ │ │ │ ├── __init__.py │ │ │ │ └── depth_processing.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ │ └── depth_processing │ │ │ ├── setup.cfg │ │ │ └── setup.py │ │ ├── image_segmentation │ │ │ ├── image_segmentation │ │ │ │ ├── __init__.py │ │ │ │ └── sam2 │ │ │ │ │ ├── .clang-format │ │ │ │ │ ├── .github │ │ │ │ │ └── workflows │ │ │ │ │ │ └── check_fmt.yml │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── .watchmanconfig │ │ │ │ │ ├── CODE_OF_CONDUCT.md │ │ │ │ │ ├── CONTRIBUTING.md │ │ │ │ │ ├── INSTALL.md │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── LICENSE_cctorch │ │ │ │ │ ├── MANIFEST.in │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── assets │ │ │ │ │ ├── model_diagram.png │ │ │ │ │ └── sa_v_dataset.jpg │ │ │ │ │ ├── backend.Dockerfile │ │ │ │ │ ├── checkpoints │ │ │ │ │ └── download_ckpts.sh │ │ │ │ │ ├── demo │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── README.md │ │ │ │ │ ├── backend │ │ │ │ │ │ └── server │ │ │ │ │ │ │ ├── app.py │ │ │ │ │ │ │ ├── app_conf.py │ │ │ │ │ │ │ ├── data │ │ │ │ │ │ │ ├── data_types.py │ │ │ │ │ │ │ ├── loader.py │ │ │ │ │ │ │ ├── resolver.py │ │ │ │ │ │ │ ├── schema.py │ │ │ │ │ │ │ ├── store.py │ │ │ │ │ │ │ └── transcoder.py │ │ │ │ │ │ │ └── inference │ │ │ │ │ │ │ ├── data_types.py │ │ │ │ │ │ │ ├── multipart.py │ │ │ │ │ │ │ └── predictor.py │ │ │ │ │ ├── data │ │ │ │ │ │ └── gallery │ │ │ │ │ │ │ ├── 01_dog.mp4 │ │ │ │ │ │ │ ├── 02_cups.mp4 │ │ │ │ │ │ │ ├── 03_blocks.mp4 │ │ │ │ │ │ │ ├── 04_coffee.mp4 │ │ │ │ │ │ │ └── 05_default_juggle.mp4 │ │ │ │ │ └── frontend │ │ │ │ │ │ ├── .babelrc │ │ │ │ │ │ ├── .dockerignore │ │ │ │ │ │ ├── .eslintignore │ │ │ │ │ │ ├── .eslintrc.cjs │ │ │ │ │ │ ├── .gitignore │ │ │ │ │ │ ├── .prettierignore │ │ │ │ │ │ ├── .prettierrc.json │ │ │ │ │ │ ├── .watchmanconfig │ │ │ │ │ │ ├── frontend.Dockerfile │ │ │ │ │ │ ├── index.html │ │ │ │ │ │ ├── package.json │ │ │ │ │ │ ├── postcss.config.js │ │ │ │ │ │ ├── public │ │ │ │ │ │ └── fonts │ │ │ │ │ │ │ └── Inter-VariableFont_opsz,wght.ttf │ │ │ │ │ │ ├── schema.graphql │ │ │ │ │ │ ├── schemas │ │ │ │ │ │ ├── inference-api-schema.graphql │ │ │ │ │ │ ├── merge-schemas.ts │ │ │ │ │ │ └── video-api-schema.graphql │ │ │ │ │ │ ├── src │ │ │ │ │ │ ├── App.tsx │ │ │ │ │ │ ├── assets │ │ │ │ │ │ │ ├── icons │ │ │ │ │ │ │ │ ├── angery.png │ │ │ │ │ │ │ │ ├── heart.png │ │ │ │ │ │ │ │ └── whistle.png │ │ │ │ │ │ │ ├── scss │ │ │ │ │ │ │ │ └── App.scss │ │ │ │ │ │ │ └── videos │ │ │ │ │ │ │ │ ├── sam2_720px_dark.mp4 │ │ │ │ │ │ │ │ └── sam2_video_poster.png │ │ │ │ │ │ ├── common │ │ │ │ │ │ │ ├── codecs │ │ │ │ │ │ │ │ ├── VideoDecoder.ts │ │ │ │ │ │ │ │ ├── VideoEncoder.ts │ │ │ │ │ │ │ │ └── WebCodecUtils.ts │ │ │ │ │ │ │ ├── components │ │ │ │ │ │ │ │ ├── MobileFirstClickBanner.tsx │ │ │ │ │ │ │ │ ├── Tooltip.tsx │ │ │ │ │ │ │ │ ├── annotations │ │ │ │ │ │ │ │ │ ├── AddObjectButton.tsx │ │ │ │ │ │ │ │ │ ├── ClearAllPointsInVideoButton.tsx │ │ │ │ │ │ │ │ │ ├── CloseSessionButton.tsx │ │ │ │ │ │ │ │ │ ├── FirstClickView.tsx │ │ │ │ │ │ │ │ │ ├── LimitNotice.tsx │ │ │ │ │ │ │ │ │ ├── MobileObjectsList.tsx │ │ │ │ │ │ │ │ │ ├── MobileObjectsToolbar.tsx │ │ │ │ │ │ │ │ │ ├── MobileObjectsToolbarHeader.tsx │ │ │ │ │ │ │ │ │ ├── ObjectActions.tsx │ │ │ │ │ │ │ │ │ ├── ObjectPlaceholder.tsx │ │ │ │ │ │ │ │ │ ├── ObjectThumbnail.tsx │ │ │ │ │ │ │ │ │ ├── ObjectUtils.ts │ │ │ │ │ │ │ │ │ ├── ObjectsToolbar.tsx │ │ │ │ │ │ │ │ │ ├── ObjectsToolbarBottomActions.tsx │ │ │ │ │ │ │ │ │ ├── ObjectsToolbarHeader.tsx │ │ │ │ │ │ │ │ │ ├── PointsToggle.tsx │ │ │ │ │ │ │ │ │ ├── PrimaryCTAButton.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarObject.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarObjectContainer.tsx │ │ │ │ │ │ │ │ │ ├── TrackletSwimlane.tsx │ │ │ │ │ │ │ │ │ ├── TrackletsAnnotation.tsx │ │ │ │ │ │ │ │ │ └── useTracklets.ts │ │ │ │ │ │ │ │ ├── button │ │ │ │ │ │ │ │ │ ├── GradientBorder.tsx │ │ │ │ │ │ │ │ │ ├── PlaybackButton.tsx │ │ │ │ │ │ │ │ │ ├── PrimaryCTAButton.tsx │ │ │ │ │ │ │ │ │ ├── ResponsiveButton.tsx │ │ │ │ │ │ │ │ │ └── TrackAndPlayButton.tsx │ │ │ │ │ │ │ │ ├── code │ │ │ │ │ │ │ │ │ └── InitializeLocalMonaco.ts │ │ │ │ │ │ │ │ ├── effects │ │ │ │ │ │ │ │ │ ├── BackgroundEffects.tsx │ │ │ │ │ │ │ │ │ ├── EffectVariantBadge.tsx │ │ │ │ │ │ │ │ │ ├── EffectsCarousel.tsx │ │ │ │ │ │ │ │ │ ├── EffectsCarouselShadow.tsx │ │ │ │ │ │ │ │ │ ├── EffectsToolbar.tsx │ │ │ │ │ │ │ │ │ ├── EffectsToolbarBottomActions.tsx │ │ │ │ │ │ │ │ │ ├── EffectsToolbarHeader.tsx │ │ │ │ │ │ │ │ │ ├── EffectsUtils.ts │ │ │ │ │ │ │ │ │ ├── HighlightEffects.tsx │ │ │ │ │ │ │ │ │ ├── MobileEffectsToolbar.tsx │ │ │ │ │ │ │ │ │ └── MoreFunEffects.tsx │ │ │ │ │ │ │ │ ├── gallery │ │ │ │ │ │ │ │ │ ├── ChangeVideoModal.tsx │ │ │ │ │ │ │ │ │ ├── DefaultVideoGalleryModalTrigger.tsx │ │ │ │ │ │ │ │ │ ├── DemoVideoGallery.tsx │ │ │ │ │ │ │ │ │ ├── DemoVideoGalleryModal.tsx │ │ │ │ │ │ │ │ │ ├── VideoGalleryUploadPhoto.tsx │ │ │ │ │ │ │ │ │ ├── VideoPhoto.tsx │ │ │ │ │ │ │ │ │ ├── __generated__ │ │ │ │ │ │ │ │ │ │ ├── DemoVideoGalleryModalQuery.graphql.ts │ │ │ │ │ │ │ │ │ │ ├── DemoVideoGalleryQuery.graphql.ts │ │ │ │ │ │ │ │ │ │ └── useUploadVideoMutation.graphql.ts │ │ │ │ │ │ │ │ │ └── useUploadVideo.ts │ │ │ │ │ │ │ │ ├── icons │ │ │ │ │ │ │ │ │ └── GitHubIcon.tsx │ │ │ │ │ │ │ │ ├── options │ │ │ │ │ │ │ │ │ ├── DownloadOption.tsx │ │ │ │ │ │ │ │ │ ├── GalleryOption.tsx │ │ │ │ │ │ │ │ │ ├── MoreOptionsToolbar.tsx │ │ │ │ │ │ │ │ │ ├── MoreOptionsToolbarBottomActions.tsx │ │ │ │ │ │ │ │ │ ├── OptionButton.tsx │ │ │ │ │ │ │ │ │ ├── ShareSection.tsx │ │ │ │ │ │ │ │ │ ├── ShareUtils.ts │ │ │ │ │ │ │ │ │ ├── TryAnotherVideoSection.tsx │ │ │ │ │ │ │ │ │ ├── UploadOption.tsx │ │ │ │ │ │ │ │ │ ├── __generated__ │ │ │ │ │ │ │ │ │ │ └── GetLinkOptionShareVideoMutation.graphql.ts │ │ │ │ │ │ │ │ │ └── useDownloadVideo.ts │ │ │ │ │ │ │ │ ├── session │ │ │ │ │ │ │ │ │ ├── RestartSessionButton.tsx │ │ │ │ │ │ │ │ │ ├── __generated__ │ │ │ │ │ │ │ │ │ │ └── useCloseSessionBeforeUnloadMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── useCloseSessionBeforeUnload.ts │ │ │ │ │ │ │ │ │ └── useRestartSession.ts │ │ │ │ │ │ │ │ ├── snackbar │ │ │ │ │ │ │ │ │ ├── DemoMessagesSnackbarUtils.ts │ │ │ │ │ │ │ │ │ ├── MessagesSnackbar.tsx │ │ │ │ │ │ │ │ │ ├── snackbarAtoms.ts │ │ │ │ │ │ │ │ │ ├── useDemoMessagesSnackbar.ts │ │ │ │ │ │ │ │ │ ├── useExpireMessage.ts │ │ │ │ │ │ │ │ │ └── useMessagesSnackbar.ts │ │ │ │ │ │ │ │ ├── toolbar │ │ │ │ │ │ │ │ │ ├── DesktopToolbar.tsx │ │ │ │ │ │ │ │ │ ├── MobileToolbar.tsx │ │ │ │ │ │ │ │ │ ├── Toolbar.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarActionIcon.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarBottomActionsWrapper.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarConfig.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarHeaderWrapper.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarProgressChip.tsx │ │ │ │ │ │ │ │ │ ├── ToolbarSection.tsx │ │ │ │ │ │ │ │ │ ├── useListenToStreamingState.ts │ │ │ │ │ │ │ │ │ └── useToolbarTabs.ts │ │ │ │ │ │ │ │ ├── useFunctionThrottle.tsx │ │ │ │ │ │ │ │ └── video │ │ │ │ │ │ │ │ │ ├── ChangeVideoModal.tsx │ │ │ │ │ │ │ │ │ ├── EventEmitter.ts │ │ │ │ │ │ │ │ │ ├── Video.tsx │ │ │ │ │ │ │ │ │ ├── VideoFilmstripWithPlayback.tsx │ │ │ │ │ │ │ │ │ ├── VideoLoadingOverlay.tsx │ │ │ │ │ │ │ │ │ ├── VideoWorker.ts │ │ │ │ │ │ │ │ │ ├── VideoWorkerBridge.ts │ │ │ │ │ │ │ │ │ ├── VideoWorkerContext.ts │ │ │ │ │ │ │ │ │ ├── VideoWorkerTypes.ts │ │ │ │ │ │ │ │ │ ├── editor │ │ │ │ │ │ │ │ │ ├── DemoVideoEditor.tsx │ │ │ │ │ │ │ │ │ ├── ImageUtils.ts │ │ │ │ │ │ │ │ │ ├── VideoEditor.tsx │ │ │ │ │ │ │ │ │ ├── VideoEditorUtils.ts │ │ │ │ │ │ │ │ │ ├── atoms.ts │ │ │ │ │ │ │ │ │ ├── useResetEditor.ts │ │ │ │ │ │ │ │ │ ├── useVideo.ts │ │ │ │ │ │ │ │ │ └── useVideoEffect.ts │ │ │ │ │ │ │ │ │ ├── effects │ │ │ │ │ │ │ │ │ ├── ArrowGLEffect.ts │ │ │ │ │ │ │ │ │ ├── BackgroundBlurEffect.ts │ │ │ │ │ │ │ │ │ ├── BackgroundTextEffect.ts │ │ │ │ │ │ │ │ │ ├── BaseGLEffect.ts │ │ │ │ │ │ │ │ │ ├── BurstGLEffect.ts │ │ │ │ │ │ │ │ │ ├── CutoutGLEffect.ts │ │ │ │ │ │ │ │ │ ├── DesaturateEffect.ts │ │ │ │ │ │ │ │ │ ├── Effect.ts │ │ │ │ │ │ │ │ │ ├── EffectUtils.ts │ │ │ │ │ │ │ │ │ ├── Effects.ts │ │ │ │ │ │ │ │ │ ├── EraseBackgroundEffect.ts │ │ │ │ │ │ │ │ │ ├── EraseForegroundEffect.ts │ │ │ │ │ │ │ │ │ ├── EraseForegroundGLEffect.ts │ │ │ │ │ │ │ │ │ ├── GradientEffect.ts │ │ │ │ │ │ │ │ │ ├── NoisyMaskEffect.ts │ │ │ │ │ │ │ │ │ ├── OriginalEffect.ts │ │ │ │ │ │ │ │ │ ├── OverlayEffect.ts │ │ │ │ │ │ │ │ │ ├── PixelateEffect.ts │ │ │ │ │ │ │ │ │ ├── PixelateMaskGLEffect.ts │ │ │ │ │ │ │ │ │ ├── ReplaceGLEffect.ts │ │ │ │ │ │ │ │ │ ├── ScopeGLEffect.ts │ │ │ │ │ │ │ │ │ ├── SobelEffect.ts │ │ │ │ │ │ │ │ │ ├── VibrantMaskEffect.ts │ │ │ │ │ │ │ │ │ └── shaders │ │ │ │ │ │ │ │ │ │ ├── Arrow.frag │ │ │ │ │ │ │ │ │ │ ├── BackgroundBlur.frag │ │ │ │ │ │ │ │ │ │ ├── Burst.frag │ │ │ │ │ │ │ │ │ │ ├── Cutout.frag │ │ │ │ │ │ │ │ │ │ ├── DefaultVert.vert │ │ │ │ │ │ │ │ │ │ ├── EraseForeground.frag │ │ │ │ │ │ │ │ │ │ ├── Gradient.frag │ │ │ │ │ │ │ │ │ │ ├── NoisyMask.frag │ │ │ │ │ │ │ │ │ │ ├── Overlay.frag │ │ │ │ │ │ │ │ │ │ ├── Overlay.vert │ │ │ │ │ │ │ │ │ │ ├── Pixelate.frag │ │ │ │ │ │ │ │ │ │ ├── PixelateMask.frag │ │ │ │ │ │ │ │ │ │ ├── Replace.frag │ │ │ │ │ │ │ │ │ │ ├── Scope.frag │ │ │ │ │ │ │ │ │ │ ├── Sobel.frag │ │ │ │ │ │ │ │ │ │ └── VibrantMask.frag │ │ │ │ │ │ │ │ │ ├── filmstrip │ │ │ │ │ │ │ │ │ ├── FilmstripUtil.tsx │ │ │ │ │ │ │ │ │ ├── SelectedFrameHelper.ts │ │ │ │ │ │ │ │ │ ├── VideoFilmstrip.tsx │ │ │ │ │ │ │ │ │ ├── atoms.ts │ │ │ │ │ │ │ │ │ ├── useDisableScrolling.ts │ │ │ │ │ │ │ │ │ └── useSelectedFrameHelper.ts │ │ │ │ │ │ │ │ │ ├── layers │ │ │ │ │ │ │ │ │ ├── InteractionLayer.tsx │ │ │ │ │ │ │ │ │ └── PointsLayer.tsx │ │ │ │ │ │ │ │ │ ├── useInputVideo.ts │ │ │ │ │ │ │ │ │ └── useVideoWorker.ts │ │ │ │ │ │ │ ├── error │ │ │ │ │ │ │ │ ├── ErrorFallback.tsx │ │ │ │ │ │ │ │ ├── ErrorReport.tsx │ │ │ │ │ │ │ │ ├── ErrorSerializationUtils.ts │ │ │ │ │ │ │ │ ├── ErrorUtils.ts │ │ │ │ │ │ │ │ ├── errorReportAtom.ts │ │ │ │ │ │ │ │ └── useReportError.tsx │ │ │ │ │ │ │ ├── loading │ │ │ │ │ │ │ │ ├── LoadingMessage.tsx │ │ │ │ │ │ │ │ ├── LoadingStateScreen.tsx │ │ │ │ │ │ │ │ ├── StaticVideoPlayer.tsx │ │ │ │ │ │ │ │ └── UploadLoadingScreen.tsx │ │ │ │ │ │ │ ├── logger │ │ │ │ │ │ │ │ ├── DemoLogger.ts │ │ │ │ │ │ │ │ ├── LogEnvironment.ts │ │ │ │ │ │ │ │ └── Logger.ts │ │ │ │ │ │ │ ├── screen │ │ │ │ │ │ │ │ └── useScreenSize.tsx │ │ │ │ │ │ │ ├── tracker │ │ │ │ │ │ │ │ ├── SAM2Model.ts │ │ │ │ │ │ │ │ ├── Tracker.ts │ │ │ │ │ │ │ │ ├── TrackerTypes.ts │ │ │ │ │ │ │ │ ├── Trackers.ts │ │ │ │ │ │ │ │ └── __generated__ │ │ │ │ │ │ │ │ │ ├── SAM2ModelAddNewPointsMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── SAM2ModelCancelPropagateInVideoMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── SAM2ModelClearPointsInFrameMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── SAM2ModelClearPointsInVideoMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── SAM2ModelCloseSessionMutation.graphql.ts │ │ │ │ │ │ │ │ │ ├── SAM2ModelRemoveObjectMutation.graphql.ts │ │ │ │ │ │ │ │ │ └── SAM2ModelStartSessionMutation.graphql.ts │ │ │ │ │ │ │ └── utils │ │ │ │ │ │ │ │ ├── FileUtils.ts │ │ │ │ │ │ │ │ ├── ImageUtils.ts │ │ │ │ │ │ │ │ ├── MaskUtils.ts │ │ │ │ │ │ │ │ ├── MultipartStream.ts │ │ │ │ │ │ │ │ ├── ShaderUtils.ts │ │ │ │ │ │ │ │ ├── emptyFunction.ts │ │ │ │ │ │ │ │ └── uuid.ts │ │ │ │ │ │ ├── debug │ │ │ │ │ │ │ └── stats │ │ │ │ │ │ │ │ ├── Stats.ts │ │ │ │ │ │ │ │ └── StatsView.tsx │ │ │ │ │ │ ├── demo │ │ │ │ │ │ │ ├── DemoConfig.tsx │ │ │ │ │ │ │ ├── DemoErrorFallback.tsx │ │ │ │ │ │ │ ├── DemoSuspenseFallback.tsx │ │ │ │ │ │ │ ├── SAM2DemoApp.tsx │ │ │ │ │ │ │ └── atoms.ts │ │ │ │ │ │ ├── graphql │ │ │ │ │ │ │ ├── RelayEnvironment.ts │ │ │ │ │ │ │ ├── RelayEnvironmentProvider.tsx │ │ │ │ │ │ │ ├── errors │ │ │ │ │ │ │ │ ├── CreateFilmstripError.ts │ │ │ │ │ │ │ │ ├── DrawFrameError.ts │ │ │ │ │ │ │ │ └── WebGLContextError.ts │ │ │ │ │ │ │ └── fetchGraphQL.ts │ │ │ │ │ │ ├── jscocotools │ │ │ │ │ │ │ └── mask.ts │ │ │ │ │ │ ├── layouts │ │ │ │ │ │ │ ├── DemoPageLayout.tsx │ │ │ │ │ │ │ └── RootLayout.tsx │ │ │ │ │ │ ├── main.tsx │ │ │ │ │ │ ├── routes │ │ │ │ │ │ │ ├── DemoPage.tsx │ │ │ │ │ │ │ ├── DemoPageWrapper.tsx │ │ │ │ │ │ │ ├── PageNotFoundPage.tsx │ │ │ │ │ │ │ └── __generated__ │ │ │ │ │ │ │ │ └── DemoPageQuery.graphql.ts │ │ │ │ │ │ ├── settings │ │ │ │ │ │ │ ├── ApprovableInput.tsx │ │ │ │ │ │ │ ├── SAM2Settings.tsx │ │ │ │ │ │ │ ├── SettingsContextProvider.tsx │ │ │ │ │ │ │ ├── SettingsModal.tsx │ │ │ │ │ │ │ ├── SettingsReducer.ts │ │ │ │ │ │ │ └── useSettingsContext.tsx │ │ │ │ │ │ ├── theme │ │ │ │ │ │ │ ├── colors.ts │ │ │ │ │ │ │ ├── gradientStyle.ts │ │ │ │ │ │ │ └── tokens.stylex.ts │ │ │ │ │ │ ├── types │ │ │ │ │ │ │ └── mp4box │ │ │ │ │ │ │ │ └── index.d.ts │ │ │ │ │ │ └── vite-env.d.ts │ │ │ │ │ │ ├── tailwind.config.js │ │ │ │ │ │ ├── tsconfig.json │ │ │ │ │ │ ├── tsconfig.node.json │ │ │ │ │ │ ├── vite.config.ts │ │ │ │ │ │ └── yarn.lock │ │ │ │ │ ├── docker-compose.yaml │ │ │ │ │ ├── notebooks │ │ │ │ │ ├── automatic_mask_generator_example.ipynb │ │ │ │ │ ├── image_predictor_example.ipynb │ │ │ │ │ ├── images │ │ │ │ │ │ ├── cars.jpg │ │ │ │ │ │ ├── groceries.jpg │ │ │ │ │ │ └── truck.jpg │ │ │ │ │ ├── video_predictor_example.ipynb │ │ │ │ │ └── videos │ │ │ │ │ │ ├── bedroom.mp4 │ │ │ │ │ │ └── bedroom │ │ │ │ │ │ ├── 00000.jpg │ │ │ │ │ │ ├── 00001.jpg │ │ │ │ │ │ ├── 00002.jpg │ │ │ │ │ │ ├── 00003.jpg │ │ │ │ │ │ ├── 00004.jpg │ │ │ │ │ │ ├── 00005.jpg │ │ │ │ │ │ ├── 00006.jpg │ │ │ │ │ │ ├── 00007.jpg │ │ │ │ │ │ ├── 00008.jpg │ │ │ │ │ │ ├── 00009.jpg │ │ │ │ │ │ ├── 00010.jpg │ │ │ │ │ │ ├── 00011.jpg │ │ │ │ │ │ ├── 00012.jpg │ │ │ │ │ │ ├── 00013.jpg │ │ │ │ │ │ ├── 00014.jpg │ │ │ │ │ │ ├── 00015.jpg │ │ │ │ │ │ ├── 00016.jpg │ │ │ │ │ │ ├── 00017.jpg │ │ │ │ │ │ ├── 00018.jpg │ │ │ │ │ │ ├── 00019.jpg │ │ │ │ │ │ ├── 00020.jpg │ │ │ │ │ │ ├── 00021.jpg │ │ │ │ │ │ ├── 00022.jpg │ │ │ │ │ │ ├── 00023.jpg │ │ │ │ │ │ ├── 00024.jpg │ │ │ │ │ │ ├── 00025.jpg │ │ │ │ │ │ ├── 00026.jpg │ │ │ │ │ │ ├── 00027.jpg │ │ │ │ │ │ ├── 00028.jpg │ │ │ │ │ │ ├── 00029.jpg │ │ │ │ │ │ ├── 00030.jpg │ │ │ │ │ │ ├── 00031.jpg │ │ │ │ │ │ ├── 00032.jpg │ │ │ │ │ │ ├── 00033.jpg │ │ │ │ │ │ ├── 00034.jpg │ │ │ │ │ │ ├── 00035.jpg │ │ │ │ │ │ ├── 00036.jpg │ │ │ │ │ │ ├── 00037.jpg │ │ │ │ │ │ ├── 00038.jpg │ │ │ │ │ │ ├── 00039.jpg │ │ │ │ │ │ ├── 00040.jpg │ │ │ │ │ │ ├── 00041.jpg │ │ │ │ │ │ ├── 00042.jpg │ │ │ │ │ │ ├── 00043.jpg │ │ │ │ │ │ ├── 00044.jpg │ │ │ │ │ │ ├── 00045.jpg │ │ │ │ │ │ ├── 00046.jpg │ │ │ │ │ │ ├── 00047.jpg │ │ │ │ │ │ ├── 00048.jpg │ │ │ │ │ │ ├── 00049.jpg │ │ │ │ │ │ ├── 00050.jpg │ │ │ │ │ │ ├── 00051.jpg │ │ │ │ │ │ ├── 00052.jpg │ │ │ │ │ │ ├── 00053.jpg │ │ │ │ │ │ ├── 00054.jpg │ │ │ │ │ │ ├── 00055.jpg │ │ │ │ │ │ ├── 00056.jpg │ │ │ │ │ │ ├── 00057.jpg │ │ │ │ │ │ ├── 00058.jpg │ │ │ │ │ │ ├── 00059.jpg │ │ │ │ │ │ ├── 00060.jpg │ │ │ │ │ │ ├── 00061.jpg │ │ │ │ │ │ ├── 00062.jpg │ │ │ │ │ │ ├── 00063.jpg │ │ │ │ │ │ ├── 00064.jpg │ │ │ │ │ │ ├── 00065.jpg │ │ │ │ │ │ ├── 00066.jpg │ │ │ │ │ │ ├── 00067.jpg │ │ │ │ │ │ ├── 00068.jpg │ │ │ │ │ │ ├── 00069.jpg │ │ │ │ │ │ ├── 00070.jpg │ │ │ │ │ │ ├── 00071.jpg │ │ │ │ │ │ ├── 00072.jpg │ │ │ │ │ │ ├── 00073.jpg │ │ │ │ │ │ ├── 00074.jpg │ │ │ │ │ │ ├── 00075.jpg │ │ │ │ │ │ ├── 00076.jpg │ │ │ │ │ │ ├── 00077.jpg │ │ │ │ │ │ ├── 00078.jpg │ │ │ │ │ │ ├── 00079.jpg │ │ │ │ │ │ ├── 00080.jpg │ │ │ │ │ │ ├── 00081.jpg │ │ │ │ │ │ ├── 00082.jpg │ │ │ │ │ │ ├── 00083.jpg │ │ │ │ │ │ ├── 00084.jpg │ │ │ │ │ │ ├── 00085.jpg │ │ │ │ │ │ ├── 00086.jpg │ │ │ │ │ │ ├── 00087.jpg │ │ │ │ │ │ ├── 00088.jpg │ │ │ │ │ │ ├── 00089.jpg │ │ │ │ │ │ ├── 00090.jpg │ │ │ │ │ │ ├── 00091.jpg │ │ │ │ │ │ ├── 00092.jpg │ │ │ │ │ │ ├── 00093.jpg │ │ │ │ │ │ ├── 00094.jpg │ │ │ │ │ │ ├── 00095.jpg │ │ │ │ │ │ ├── 00096.jpg │ │ │ │ │ │ ├── 00097.jpg │ │ │ │ │ │ ├── 00098.jpg │ │ │ │ │ │ ├── 00099.jpg │ │ │ │ │ │ ├── 00100.jpg │ │ │ │ │ │ ├── 00101.jpg │ │ │ │ │ │ ├── 00102.jpg │ │ │ │ │ │ ├── 00103.jpg │ │ │ │ │ │ ├── 00104.jpg │ │ │ │ │ │ ├── 00105.jpg │ │ │ │ │ │ ├── 00106.jpg │ │ │ │ │ │ ├── 00107.jpg │ │ │ │ │ │ ├── 00108.jpg │ │ │ │ │ │ ├── 00109.jpg │ │ │ │ │ │ ├── 00110.jpg │ │ │ │ │ │ ├── 00111.jpg │ │ │ │ │ │ ├── 00112.jpg │ │ │ │ │ │ ├── 00113.jpg │ │ │ │ │ │ ├── 00114.jpg │ │ │ │ │ │ ├── 00115.jpg │ │ │ │ │ │ ├── 00116.jpg │ │ │ │ │ │ ├── 00117.jpg │ │ │ │ │ │ ├── 00118.jpg │ │ │ │ │ │ ├── 00119.jpg │ │ │ │ │ │ ├── 00120.jpg │ │ │ │ │ │ ├── 00121.jpg │ │ │ │ │ │ ├── 00122.jpg │ │ │ │ │ │ ├── 00123.jpg │ │ │ │ │ │ ├── 00124.jpg │ │ │ │ │ │ ├── 00125.jpg │ │ │ │ │ │ ├── 00126.jpg │ │ │ │ │ │ ├── 00127.jpg │ │ │ │ │ │ ├── 00128.jpg │ │ │ │ │ │ ├── 00129.jpg │ │ │ │ │ │ ├── 00130.jpg │ │ │ │ │ │ ├── 00131.jpg │ │ │ │ │ │ ├── 00132.jpg │ │ │ │ │ │ ├── 00133.jpg │ │ │ │ │ │ ├── 00134.jpg │ │ │ │ │ │ ├── 00135.jpg │ │ │ │ │ │ ├── 00136.jpg │ │ │ │ │ │ ├── 00137.jpg │ │ │ │ │ │ ├── 00138.jpg │ │ │ │ │ │ ├── 00139.jpg │ │ │ │ │ │ ├── 00140.jpg │ │ │ │ │ │ ├── 00141.jpg │ │ │ │ │ │ ├── 00142.jpg │ │ │ │ │ │ ├── 00143.jpg │ │ │ │ │ │ ├── 00144.jpg │ │ │ │ │ │ ├── 00145.jpg │ │ │ │ │ │ ├── 00146.jpg │ │ │ │ │ │ ├── 00147.jpg │ │ │ │ │ │ ├── 00148.jpg │ │ │ │ │ │ ├── 00149.jpg │ │ │ │ │ │ ├── 00150.jpg │ │ │ │ │ │ ├── 00151.jpg │ │ │ │ │ │ ├── 00152.jpg │ │ │ │ │ │ ├── 00153.jpg │ │ │ │ │ │ ├── 00154.jpg │ │ │ │ │ │ ├── 00155.jpg │ │ │ │ │ │ ├── 00156.jpg │ │ │ │ │ │ ├── 00157.jpg │ │ │ │ │ │ ├── 00158.jpg │ │ │ │ │ │ ├── 00159.jpg │ │ │ │ │ │ ├── 00160.jpg │ │ │ │ │ │ ├── 00161.jpg │ │ │ │ │ │ ├── 00162.jpg │ │ │ │ │ │ ├── 00163.jpg │ │ │ │ │ │ ├── 00164.jpg │ │ │ │ │ │ ├── 00165.jpg │ │ │ │ │ │ ├── 00166.jpg │ │ │ │ │ │ ├── 00167.jpg │ │ │ │ │ │ ├── 00168.jpg │ │ │ │ │ │ ├── 00169.jpg │ │ │ │ │ │ ├── 00170.jpg │ │ │ │ │ │ ├── 00171.jpg │ │ │ │ │ │ ├── 00172.jpg │ │ │ │ │ │ ├── 00173.jpg │ │ │ │ │ │ ├── 00174.jpg │ │ │ │ │ │ ├── 00175.jpg │ │ │ │ │ │ ├── 00176.jpg │ │ │ │ │ │ ├── 00177.jpg │ │ │ │ │ │ ├── 00178.jpg │ │ │ │ │ │ ├── 00179.jpg │ │ │ │ │ │ ├── 00180.jpg │ │ │ │ │ │ ├── 00181.jpg │ │ │ │ │ │ ├── 00182.jpg │ │ │ │ │ │ ├── 00183.jpg │ │ │ │ │ │ ├── 00184.jpg │ │ │ │ │ │ ├── 00185.jpg │ │ │ │ │ │ ├── 00186.jpg │ │ │ │ │ │ ├── 00187.jpg │ │ │ │ │ │ ├── 00188.jpg │ │ │ │ │ │ ├── 00189.jpg │ │ │ │ │ │ ├── 00190.jpg │ │ │ │ │ │ ├── 00191.jpg │ │ │ │ │ │ ├── 00192.jpg │ │ │ │ │ │ ├── 00193.jpg │ │ │ │ │ │ ├── 00194.jpg │ │ │ │ │ │ ├── 00195.jpg │ │ │ │ │ │ ├── 00196.jpg │ │ │ │ │ │ ├── 00197.jpg │ │ │ │ │ │ ├── 00198.jpg │ │ │ │ │ │ └── 00199.jpg │ │ │ │ │ ├── pyproject.toml │ │ │ │ │ ├── sam2 │ │ │ │ │ ├── 2 │ │ │ │ │ ├── =2 │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── automatic_mask_generator.py │ │ │ │ │ ├── build_sam.py │ │ │ │ │ ├── configs │ │ │ │ │ │ ├── sam2.1 │ │ │ │ │ │ │ ├── sam2.1_hiera_b+.yaml │ │ │ │ │ │ │ ├── sam2.1_hiera_l.yaml │ │ │ │ │ │ │ ├── sam2.1_hiera_s.yaml │ │ │ │ │ │ │ └── sam2.1_hiera_t.yaml │ │ │ │ │ │ ├── sam2.1_training │ │ │ │ │ │ │ └── sam2.1_hiera_b+_MOSE_finetune.yaml │ │ │ │ │ │ └── sam2 │ │ │ │ │ │ │ ├── sam2_hiera_b+.yaml │ │ │ │ │ │ │ ├── sam2_hiera_l.yaml │ │ │ │ │ │ │ ├── sam2_hiera_s.yaml │ │ │ │ │ │ │ └── sam2_hiera_t.yaml │ │ │ │ │ ├── csrc │ │ │ │ │ │ └── connected_components.cu │ │ │ │ │ ├── image_segmentation.py │ │ │ │ │ ├── modeling │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── backbones │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── hieradet.py │ │ │ │ │ │ │ ├── image_encoder.py │ │ │ │ │ │ │ └── utils.py │ │ │ │ │ │ ├── memory_attention.py │ │ │ │ │ │ ├── memory_encoder.py │ │ │ │ │ │ ├── position_encoding.py │ │ │ │ │ │ ├── sam │ │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ │ ├── mask_decoder.py │ │ │ │ │ │ │ ├── prompt_encoder.py │ │ │ │ │ │ │ └── transformer.py │ │ │ │ │ │ ├── sam2_base.py │ │ │ │ │ │ └── sam2_utils.py │ │ │ │ │ ├── sam2_hiera_b+.yaml │ │ │ │ │ ├── sam2_hiera_l.yaml │ │ │ │ │ ├── sam2_hiera_s.yaml │ │ │ │ │ ├── sam2_hiera_t.yaml │ │ │ │ │ ├── sam2_image_predictor.py │ │ │ │ │ ├── sam2_video_predictor.py │ │ │ │ │ └── utils │ │ │ │ │ │ ├── __init__.py │ │ │ │ │ │ ├── amg.py │ │ │ │ │ │ ├── misc.py │ │ │ │ │ │ └── transforms.py │ │ │ │ │ ├── sav_dataset │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── LICENSE_DAVIS │ │ │ │ │ ├── LICENSE_VOS_BENCHMARK │ │ │ │ │ ├── README.md │ │ │ │ │ ├── example │ │ │ │ │ │ ├── sav_000001.mp4 │ │ │ │ │ │ ├── sav_000001_auto.json │ │ │ │ │ │ └── sav_000001_manual.json │ │ │ │ │ ├── requirements.txt │ │ │ │ │ ├── sav_evaluator.py │ │ │ │ │ ├── sav_visualization_example.ipynb │ │ │ │ │ └── utils │ │ │ │ │ │ ├── sav_benchmark.py │ │ │ │ │ │ └── sav_utils.py │ │ │ │ │ ├── setup.py │ │ │ │ │ ├── tools │ │ │ │ │ ├── README.md │ │ │ │ │ └── vos_inference.py │ │ │ │ │ └── training │ │ │ │ │ ├── README.md │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── assets │ │ │ │ │ ├── MOSE_sample_train_list.txt │ │ │ │ │ └── MOSE_sample_val_list.txt │ │ │ │ │ ├── dataset │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── sam2_datasets.py │ │ │ │ │ ├── transforms.py │ │ │ │ │ ├── utils.py │ │ │ │ │ ├── vos_dataset.py │ │ │ │ │ ├── vos_raw_dataset.py │ │ │ │ │ ├── vos_sampler.py │ │ │ │ │ └── vos_segment_loader.py │ │ │ │ │ ├── loss_fns.py │ │ │ │ │ ├── model │ │ │ │ │ ├── __init__.py │ │ │ │ │ └── sam2.py │ │ │ │ │ ├── optimizer.py │ │ │ │ │ ├── scripts │ │ │ │ │ └── sav_frame_extraction_submitit.py │ │ │ │ │ ├── train.py │ │ │ │ │ ├── trainer.py │ │ │ │ │ └── utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── checkpoint_utils.py │ │ │ │ │ ├── data_utils.py │ │ │ │ │ ├── distributed.py │ │ │ │ │ ├── logger.py │ │ │ │ │ └── train_utils.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ │ └── image_segmentation │ │ │ ├── setup.cfg │ │ │ └── setup.py │ │ └── occupancy_grid │ │ │ ├── occupancy_grid │ │ │ ├── __init__.py │ │ │ └── occupancy_grid.py │ │ │ ├── package.xml │ │ │ ├── resource │ │ │ └── occupancy_grid │ │ │ ├── setup.cfg │ │ │ └── setup.py │ ├── driveable_area │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── cameraView │ │ │ ├── cameraCenter.jpeg │ │ │ ├── cameraCenterCropped.jpeg │ │ │ ├── drivearea.png │ │ │ └── result.jpg │ │ ├── driveable_area │ │ │ ├── __init__.py │ │ │ └── driveable_area_node.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── driveable_area │ │ ├── setup.cfg │ │ └── setup.py │ ├── ground_seg │ │ ├── .package.xml.swp │ │ ├── CMakeLists.txt │ │ ├── exe │ │ │ └── ground_segmentation_exe.cpp │ │ ├── include │ │ │ └── ground_seg │ │ │ │ └── GroundSegmentationNode.hpp │ │ ├── package.xml │ │ └── src │ │ │ └── GroundSegmentationNode.cpp │ ├── lane_type_detector │ │ ├── lane_type_detector │ │ │ ├── __init__.py │ │ │ └── lane_type_detector.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── lane_type_detector │ │ ├── setup.cfg │ │ └── setup.py │ ├── lidar_detection │ │ ├── lidar_detection │ │ │ ├── __init__.py │ │ │ ├── complex_yolov4 │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── model │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── darknet2pytorch.py │ │ │ │ │ ├── darknet_utils.py │ │ │ │ │ ├── model_utils.py │ │ │ │ │ └── yolo_layer.py │ │ │ │ └── utils │ │ │ │ │ ├── __init__.py │ │ │ │ │ ├── evaluation_utils.py │ │ │ │ │ ├── kitti_bev_utils.py │ │ │ │ │ ├── kitti_config.py │ │ │ │ │ └── torch_utils.py │ │ │ ├── complex_yolov4_model.py │ │ │ ├── lidar_detection_node.py │ │ │ └── mmdetection3d_model.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── lidar_detection │ │ ├── setup.cfg │ │ └── setup.py │ ├── multi_object_tracker_3d │ │ ├── multi_object_tracker_3d │ │ │ ├── __init__.py │ │ │ ├── box_op.py │ │ │ ├── mot3d_node.py │ │ │ ├── object.py │ │ │ ├── tracker.py │ │ │ └── trajectory.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── multi_object_tracker_3d │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── test │ │ │ ├── test_copyright.py │ │ │ ├── test_flake8.py │ │ │ └── test_pep257.py │ ├── occupancy_cpp │ │ ├── CMakeLists.txt │ │ ├── exe │ │ │ └── static_grid_exe.cpp │ │ ├── include │ │ │ └── occupancy_cpp │ │ │ │ └── StaticOccupancyNode.hpp │ │ ├── package.xml │ │ └── src │ │ │ └── StaticOccupancyNode.cpp │ ├── pedestrian_intent_to_enter_road │ │ ├── package.xml │ │ ├── pedestrian_intent_to_enter_road │ │ │ ├── __init__.py │ │ │ └── pedestrian_intent_to_enter_road.py │ │ ├── resource │ │ │ └── pedestrian_intent_to_enter_road │ │ ├── setup.cfg │ │ └── setup.py │ ├── pedestrian_skeleton │ │ ├── package.xml │ │ ├── pedestrian_skeleton │ │ │ ├── __init__.py │ │ │ └── pedestrian_skeleton.py │ │ ├── resource │ │ │ └── pedestrian_skeleton │ │ ├── setup.cfg │ │ └── setup.py │ ├── prednet_inference │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── predictionTest │ │ │ ├── original_5.png │ │ │ ├── prediction_example_0.png │ │ │ ├── prediction_example_1.png │ │ │ ├── prediction_example_10.png │ │ │ ├── prediction_example_11.png │ │ │ ├── prediction_example_12.png │ │ │ ├── prediction_example_13.png │ │ │ ├── prediction_example_14.png │ │ │ ├── prediction_example_15.png │ │ │ ├── prediction_example_16.png │ │ │ ├── prediction_example_17.png │ │ │ ├── prediction_example_18.png │ │ │ ├── prediction_example_19.png │ │ │ ├── prediction_example_2.png │ │ │ ├── prediction_example_3.png │ │ │ ├── prediction_example_4.png │ │ │ ├── prediction_example_5.png │ │ │ ├── prediction_example_6.png │ │ │ ├── prediction_example_7.png │ │ │ ├── prediction_example_8.png │ │ │ └── prediction_example_9.png │ │ ├── prednet_inference │ │ │ ├── __init__.py │ │ │ └── prednet_inference_node.py │ │ ├── resource │ │ │ └── prednet_inference │ │ ├── setup.cfg │ │ └── setup.py │ ├── road_signs_classifier │ │ ├── package.xml │ │ ├── resource │ │ │ └── road_signs_classifier │ │ ├── road_signs_classifier │ │ │ ├── __init__.py │ │ │ └── road_signs_classifier.py │ │ ├── setup.cfg │ │ └── setup.py │ ├── road_user_detection │ │ ├── package.xml │ │ ├── resource │ │ │ └── road_user_detection │ │ ├── road_user_detection │ │ │ ├── __init__.py │ │ │ └── road_user_detection.py │ │ ├── setup.cfg │ │ └── setup.py │ ├── segmentation │ │ ├── package.xml │ │ ├── resource │ │ │ └── segmentation │ │ ├── segmentation │ │ │ ├── __init__.py │ │ │ ├── image_projection_node.py │ │ │ └── image_segmentation_node.py │ │ ├── setup.cfg │ │ └── setup.py │ ├── state_estimation │ │ ├── package.xml │ │ ├── resource │ │ │ └── state_estimation │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── state_estimation │ │ │ ├── __init__.py │ │ │ ├── gnss_averaging_node.py │ │ │ ├── mcl.py │ │ │ └── mcl_node.py │ ├── traffic_light_detector │ │ ├── package.xml │ │ ├── resource │ │ │ └── traffic_light_detector │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── traffic_light_detector │ │ │ ├── __init__.py │ │ │ └── traffic_light_node.py │ └── visualizer │ │ ├── package.xml │ │ ├── resource │ │ └── visualizer │ │ ├── setup.cfg │ │ ├── setup.py │ │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ │ └── visualizer │ │ ├── __init__.py │ │ └── object_visualizer_node.py ├── planning │ ├── costs │ │ ├── costs │ │ │ ├── __init__.py │ │ │ ├── grid_summation_node.py │ │ │ ├── junction_manager.py │ │ │ └── route_costmap_node.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── costs │ │ ├── setup.cfg │ │ └── setup.py │ ├── intersection_manager │ │ ├── intersection_manager │ │ │ ├── __init__.py │ │ │ └── intersection_manager.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── intersection_manager │ │ ├── setup.cfg │ │ └── setup.py │ ├── nav2_path_planner │ │ ├── nav2_path_planner │ │ │ ├── __init__.py │ │ │ ├── nav2_map.param.yaml │ │ │ ├── nav2_map.pgm │ │ │ └── nav2_path_planner_node.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── nav2_path_planner │ │ ├── setup.cfg │ │ └── setup.py │ ├── path_planners │ │ ├── package.xml │ │ ├── path_planners │ │ │ ├── __init__.py │ │ │ ├── arastar_path_planner.py │ │ │ ├── dijkstra_path_planner.py │ │ │ ├── dp_path_planner.py │ │ │ ├── neural_network_path_planner.py │ │ │ ├── neural_network_training.py │ │ │ ├── path_planner_node.py │ │ │ └── trrtstar_path_planner.py │ │ ├── resource │ │ │ └── path_planners │ │ ├── setup.cfg │ │ ├── setup.py │ │ └── test │ │ │ ├── test_copyright.py │ │ │ ├── test_flake8.py │ │ │ └── test_pep257.py │ ├── rrt │ │ ├── CMakeLists.txt │ │ ├── COLCON_IGNORE │ │ ├── exe │ │ │ └── rrt_node.cpp │ │ ├── include │ │ │ └── rrt │ │ │ │ └── RRTNode.hpp │ │ ├── package.xml │ │ └── src │ │ │ └── RRTNode.cpp │ └── rtp │ │ ├── package.xml │ │ ├── resource │ │ └── rtp │ │ ├── rtp │ │ ├── __init__.py │ │ └── rtp_node.py │ │ ├── setup.cfg │ │ └── setup.py ├── safety │ ├── airbags │ │ ├── airbags │ │ │ ├── __init__.py │ │ │ └── airbag_node.py │ │ ├── package.xml │ │ ├── resource │ │ │ └── airbags │ │ ├── setup.cfg │ │ └── setup.py │ └── guardian │ │ ├── guardian │ │ ├── __init__.py │ │ ├── guardian_node.py │ │ └── sound_node.py │ │ ├── package.xml │ │ ├── resource │ │ └── guardian │ │ ├── setup.cfg │ │ └── setup.py └── tools │ ├── clock │ ├── clock │ │ ├── __init__.py │ │ └── clock_node.py │ ├── package.xml │ ├── resource │ │ └── clock │ ├── setup.cfg │ └── setup.py │ ├── helpers │ ├── helpers │ │ ├── __init__.py │ │ ├── routing_hardcoded.py │ │ ├── routing_listener.py │ │ └── routing_monitor.py │ ├── package.xml │ ├── resource │ │ └── helpers │ ├── setup.cfg │ └── setup.py │ ├── joy_translation │ ├── joy_translation │ │ ├── __init__.py │ │ └── joy_translation_node.py │ ├── package.xml │ ├── resource │ │ └── joy_translation │ ├── setup.cfg │ └── setup.py │ ├── keyboard_control │ ├── keyboard_control │ │ ├── __init__.py │ │ └── keyboard_control.py │ ├── package.xml │ ├── resource │ │ └── keyboard_control │ ├── setup.cfg │ └── setup.py │ ├── lemon │ ├── CMakeLists.txt │ └── package.xml │ ├── libboost │ ├── CMakeLists.txt │ └── package.xml │ ├── libopendrive │ ├── CMakeLists.txt │ ├── include │ │ ├── CubicBezier.hpp │ │ ├── Geometries │ │ │ ├── Arc.h │ │ │ ├── CubicSpline.h │ │ │ ├── Line.h │ │ │ ├── ParamPoly3.h │ │ │ ├── RoadGeometry.h │ │ │ ├── Spiral.h │ │ │ └── Spiral │ │ │ │ └── odrSpiral.h │ │ ├── Junction.h │ │ ├── Lane.h │ │ ├── LaneSection.h │ │ ├── Math.hpp │ │ ├── Mesh.h │ │ ├── OpenDriveMap.h │ │ ├── RefLine.h │ │ ├── Road.h │ │ ├── RoadMark.h │ │ ├── RoadNetworkMesh.h │ │ ├── RoadObject.h │ │ ├── RoadSignal.h │ │ ├── RoutingGraph.h │ │ ├── Utils.hpp │ │ ├── XmlNode.h │ │ ├── earcut │ │ │ ├── LICENSE │ │ │ └── earcut.hpp │ │ ├── pugiconfig.hpp │ │ ├── pugixml.hpp │ │ └── pugixml │ │ │ └── readme.txt │ ├── libOpenDRIVE │ │ ├── .clang-format │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── README.md │ │ ├── Viewer │ │ │ ├── ViewerUtils.cpp │ │ │ ├── ViewerUtils.h │ │ │ ├── controls.js │ │ │ ├── fonts │ │ │ │ └── fontawesome-webfont.woff2 │ │ │ ├── index.html │ │ │ ├── lib │ │ │ │ ├── dat.gui.min.js │ │ │ │ ├── font-awesome.min.css │ │ │ │ ├── notyf.min.css │ │ │ │ ├── notyf.min.js │ │ │ │ ├── orbitcontrols.min.js │ │ │ │ └── three.min.js │ │ │ └── main.js │ │ ├── format-files.sh │ │ └── test.cpp │ ├── package.xml │ └── src │ │ ├── Embind.cpp │ │ ├── Geometries │ │ ├── Arc.cpp │ │ ├── CubicSpline.cpp │ │ ├── Line.cpp │ │ ├── ParamPoly3.cpp │ │ ├── RoadGeometry.cpp │ │ ├── Spiral.cpp │ │ └── Spiral │ │ │ └── odrSpiral.cpp │ │ ├── Junction.cpp │ │ ├── Lane.cpp │ │ ├── LaneSection.cpp │ │ ├── Mesh.cpp │ │ ├── OpenDriveMap.cpp │ │ ├── RefLine.cpp │ │ ├── Road.cpp │ │ ├── RoadMark.cpp │ │ ├── RoadNetworkMesh.cpp │ │ ├── RoadObject.cpp │ │ ├── RoadSignal.cpp │ │ ├── RoutingGraph.cpp │ │ └── pugixml.cpp │ ├── manual_control │ ├── manual_control │ │ ├── __init__.py │ │ ├── curses_test.py │ │ └── manual_control_node.py │ ├── package.xml │ ├── resource │ │ └── manual_control │ ├── setup.cfg │ └── setup.py │ ├── nova_auto_package │ ├── CMakeLists.txt │ ├── ExampleCMakeLists.txt │ ├── cmake │ │ ├── ament_auto_add_gtest.cmake │ │ ├── ament_auto_find_test_dependencies.cmake │ │ └── nova_auto_package.cmake │ ├── nova_auto_package_extras.cmake │ └── package.xml │ ├── opendrivepy │ ├── CMakeLists.txt │ ├── opendrivepy │ │ ├── __init__.py │ │ ├── enums.py │ │ ├── header.py │ │ ├── lane.py │ │ ├── lane_section.py │ │ ├── map.py │ │ ├── registry.py │ │ ├── road.py │ │ └── signals.py │ ├── package.xml │ └── test │ │ ├── test_geometry.py │ │ ├── test_images.py │ │ ├── test_occupancygrids.py │ │ ├── test_pointclouds.py │ │ └── test_quat.py │ ├── recording │ ├── package.xml │ ├── recording │ │ ├── __init__.py │ │ ├── costmap_recorder.py │ │ ├── fix2geojson.py │ │ ├── odom2tf.py │ │ ├── player.py │ │ └── recorder.py │ ├── resource │ │ └── recording │ ├── setup.cfg │ └── setup.py │ ├── ros2_numpy │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── package.xml │ ├── ros2_numpy │ │ ├── __init__.py │ │ ├── geometry.py │ │ ├── image.py │ │ ├── occupancy_grid.py │ │ ├── point_cloud2.py │ │ └── registry.py │ └── test │ │ ├── test_geometry.py │ │ ├── test_images.py │ │ ├── test_occupancygrids.py │ │ ├── test_pointclouds.py │ │ └── test_quat.py │ ├── rosbridge_suite │ ├── .github │ │ ├── ISSUE_TEMPLATE.md │ │ ├── dependabot.yml │ │ └── workflows │ │ │ ├── ci.yml │ │ │ └── stale.yml │ ├── .gitignore │ ├── .pre-commit-config.yaml │ ├── AUTHORS.md │ ├── LICENSE │ ├── QUALITY_DECLARATION.md │ ├── README.md │ ├── ROSBRIDGE_PROTOCOL.md │ ├── TROUBLESHOOTING.md │ ├── pyproject.toml │ ├── rosapi │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── mapping_rules.yaml │ │ ├── package.xml │ │ ├── scripts │ │ │ └── rosapi_node │ │ ├── src │ │ │ └── rosapi │ │ │ │ ├── __init__.py │ │ │ │ ├── glob_helper.py │ │ │ │ ├── objectutils.py │ │ │ │ ├── params.py │ │ │ │ ├── proxy.py │ │ │ │ └── stringify_field_types.py │ │ └── test │ │ │ ├── __init__.py │ │ │ └── test_stringify_field_types.py │ ├── rosapi_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ └── TypeDef.msg │ │ ├── package.xml │ │ └── srv │ │ │ ├── DeleteParam.srv │ │ │ ├── GetActionServers.srv │ │ │ ├── GetParam.srv │ │ │ ├── GetParamNames.srv │ │ │ ├── GetROSVersion.srv │ │ │ ├── GetTime.srv │ │ │ ├── HasParam.srv │ │ │ ├── MessageDetails.srv │ │ │ ├── NodeDetails.srv │ │ │ ├── Nodes.srv │ │ │ ├── Publishers.srv │ │ │ ├── ServiceNode.srv │ │ │ ├── ServiceProviders.srv │ │ │ ├── ServiceRequestDetails.srv │ │ │ ├── ServiceResponseDetails.srv │ │ │ ├── ServiceType.srv │ │ │ ├── Services.srv │ │ │ ├── ServicesForType.srv │ │ │ ├── SetParam.srv │ │ │ ├── Subscribers.srv │ │ │ ├── TopicType.srv │ │ │ ├── Topics.srv │ │ │ ├── TopicsAndRawTypes.srv │ │ │ └── TopicsForType.srv │ ├── rosbridge_library │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── src │ │ │ └── rosbridge_library │ │ │ │ ├── __init__.py │ │ │ │ ├── capabilities │ │ │ │ ├── __init__.py │ │ │ │ ├── advertise.py │ │ │ │ ├── advertise_service.py │ │ │ │ ├── call_service.py │ │ │ │ ├── defragmentation.py │ │ │ │ ├── fragmentation.py │ │ │ │ ├── publish.py │ │ │ │ ├── service_response.py │ │ │ │ ├── subscribe.py │ │ │ │ └── unadvertise_service.py │ │ │ │ ├── capability.py │ │ │ │ ├── internal │ │ │ │ ├── __init__.py │ │ │ │ ├── cbor_conversion.py │ │ │ │ ├── exceptions.py │ │ │ │ ├── message_conversion.py │ │ │ │ ├── outgoing_message.py │ │ │ │ ├── pngcompression.py │ │ │ │ ├── publishers.py │ │ │ │ ├── ros_loader.py │ │ │ │ ├── services.py │ │ │ │ ├── subscribers.py │ │ │ │ ├── subscription_modifiers.py │ │ │ │ └── topics.py │ │ │ │ ├── protocol.py │ │ │ │ ├── rosbridge_protocol.py │ │ │ │ └── util │ │ │ │ ├── __init__.py │ │ │ │ └── cbor.py │ │ └── test │ │ │ ├── __init__.py │ │ │ ├── capabilities │ │ │ ├── __init__.py │ │ │ ├── test_advertise.py │ │ │ ├── test_call_service.py │ │ │ ├── test_publish.py │ │ │ ├── test_service_capabilities.py │ │ │ └── test_subscribe.py │ │ │ ├── experimental │ │ │ ├── complex_srv+tcp │ │ │ │ ├── test_non-ros_service_client_complex-srv.py │ │ │ │ └── test_non-ros_service_server_complex-srv.py │ │ │ └── fragmentation+srv+tcp │ │ │ │ ├── test_non-ros_service_client_fragmented.py │ │ │ │ └── test_non-ros_service_server_fragmented.py │ │ │ ├── internal │ │ │ ├── __init__.py │ │ │ ├── publishers │ │ │ │ ├── __init__.py │ │ │ │ ├── test_multi_publisher.py │ │ │ │ ├── test_multi_unregistering.py │ │ │ │ └── test_publisher_manager.py │ │ │ ├── subscribers │ │ │ │ ├── __init__.py │ │ │ │ ├── test_multi_subscriber.py │ │ │ │ ├── test_subscriber_manager.py │ │ │ │ └── test_subscription_modifiers.py │ │ │ ├── test_cbor_conversion.py │ │ │ ├── test_compression.py │ │ │ ├── test_message_conversion.py │ │ │ ├── test_outgoing_message.py │ │ │ ├── test_ros_loader.py │ │ │ └── test_services.py │ │ │ └── test_all.test │ ├── rosbridge_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── ConnectedClient.msg │ │ │ └── ConnectedClients.msg │ │ └── package.xml │ ├── rosbridge_server │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── rosbridge_websocket_launch.xml │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── rosbridge_websocket │ │ │ └── rosbridge_websocket.py │ │ ├── src │ │ │ └── rosbridge_server │ │ │ │ ├── __init__.py │ │ │ │ ├── client_mananger.py │ │ │ │ └── websocket_handler.py │ │ └── test │ │ │ └── websocket │ │ │ ├── advertise_service.test.py │ │ │ ├── advertise_service_duplicate.test.py │ │ │ ├── best_effort_publisher.test.py │ │ │ ├── call_service.test.py │ │ │ ├── common.py │ │ │ ├── multiple_subscribers.test.py │ │ │ ├── multiple_subscribers_raw.test.py │ │ │ ├── smoke.test.py │ │ │ └── transient_local_publisher.test.py │ ├── rosbridge_suite │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── rosbridge_test_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── Num.msg │ │ │ ├── TestChar.msg │ │ │ ├── TestDurationArray.msg │ │ │ ├── TestFloat32Array.msg │ │ │ ├── TestFloat32BoundedArray.msg │ │ │ ├── TestHeader.msg │ │ │ ├── TestHeaderArray.msg │ │ │ ├── TestHeaderTwo.msg │ │ │ ├── TestTimeArray.msg │ │ │ ├── TestUInt8.msg │ │ │ └── TestUInt8FixedSizeArray16.msg │ │ ├── package.xml │ │ └── srv │ │ │ ├── AddTwoInts.srv │ │ │ ├── SendBytes.srv │ │ │ ├── TestArrayRequest.srv │ │ │ ├── TestEmpty.srv │ │ │ ├── TestMultipleRequestFields.srv │ │ │ ├── TestMultipleResponseFields.srv │ │ │ ├── TestNestedService.srv │ │ │ ├── TestRequestAndResponse.srv │ │ │ ├── TestRequestOnly.srv │ │ │ └── TestResponseOnly.srv │ └── setup.cfg │ ├── route_recorder │ ├── package.xml │ ├── resource │ │ └── route_recorder │ ├── route_recorder │ │ ├── __init__.py │ │ └── route_recorder_node.py │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ ├── voltron_test_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── voltron_test_utils │ │ │ ├── TestClient.hpp │ │ │ ├── TestPublisher.hpp │ │ │ ├── TestServer.hpp │ │ │ └── TestSubscriber.hpp │ ├── package.xml │ └── test │ │ ├── test_test_client_server.cpp │ │ └── test_test_publisher_subscriber.cpp │ ├── vt_viz │ ├── launch │ │ └── container.launch.py │ ├── package.xml │ ├── resource │ │ └── vt_viz │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── vt_viz │ │ ├── __init__.py │ │ └── vt_viz_exe.py │ └── web_video_server │ ├── .gitignore │ ├── AUTHORS.md │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── COLCON_IGNORE │ ├── LICENSE │ ├── README.md │ ├── include │ └── web_video_server │ │ ├── h264_streamer.h │ │ ├── image_streamer.h │ │ ├── jpeg_streamers.h │ │ ├── libav_streamer.h │ │ ├── multipart_stream.h │ │ ├── png_streamers.h │ │ ├── ros_compressed_streamer.h │ │ ├── vp8_streamer.h │ │ ├── vp9_streamer.h │ │ └── web_video_server.h │ ├── mainpage.dox │ ├── package.xml │ └── src │ ├── h264_streamer.cpp │ ├── image_streamer.cpp │ ├── jpeg_streamers.cpp │ ├── libav_streamer.cpp │ ├── multipart_stream.cpp │ ├── png_streamers.cpp │ ├── ros_compressed_streamer.cpp │ ├── vp8_streamer.cpp │ ├── vp9_streamer.cpp │ └── web_video_server.cpp ├── velos.bash └── zenith ├── .dockerignore ├── .eslintignore ├── .eslintrc.cjs ├── .gitignore ├── .npmrc ├── .prettierignore ├── .prettierrc ├── Dockerfile ├── Dockerfile.dev ├── README.md ├── components.json ├── docker-compose.yaml ├── package-lock.json ├── package.json ├── postcss.config.js ├── server ├── .dockerignore ├── Dockerfile ├── Dockerfile.dev ├── README.md ├── api.py ├── launch │ ├── __init__.py │ ├── builder.py │ ├── edit_buffer.py │ ├── launch_file.py │ └── template.py ├── log_conf.yaml ├── requirements.txt ├── routers │ ├── __init__.py │ ├── launches.py │ ├── subsystems.py │ └── term.py └── subsystem.py ├── src-tauri ├── .gitignore ├── Cargo.lock ├── Cargo.toml ├── build.rs ├── icons │ ├── 128x128.png │ ├── 128x128@2x.png │ ├── 32x32.png │ ├── Square107x107Logo.png │ ├── Square142x142Logo.png │ ├── Square150x150Logo.png │ ├── Square284x284Logo.png │ ├── Square30x30Logo.png │ ├── Square310x310Logo.png │ ├── Square44x44Logo.png │ ├── Square71x71Logo.png │ ├── Square89x89Logo.png │ ├── StoreLogo.png │ ├── icon.icns │ ├── icon.ico │ └── icon.png ├── src │ └── main.rs └── tauri.conf.json ├── src ├── app.css ├── app.d.ts ├── app.html ├── lib │ ├── api │ │ ├── index.ts │ │ ├── launches.ts │ │ ├── subsystems.ts │ │ └── term.ts │ ├── modules │ │ ├── launch-editor │ │ │ ├── index.ts │ │ │ ├── launch-editor-panel.svelte │ │ │ ├── launch-editor.svelte │ │ │ └── subsystem-accordian-item.svelte │ │ ├── launch-list │ │ │ ├── index.ts │ │ │ ├── launch-create-dialog.svelte │ │ │ ├── launch-duplicate-dialog.svelte │ │ │ ├── launch-item-menu.svelte │ │ │ ├── launch-item.svelte │ │ │ ├── launch-list-panel.svelte │ │ │ ├── launch-list-skeleton.svelte │ │ │ ├── launch-list.svelte │ │ │ └── launch-rename-dialog.svelte │ │ └── launch-terminal │ │ │ ├── index.ts │ │ │ └── launch-terminal-panel.svelte │ ├── stores │ │ ├── envStore.ts │ │ ├── launchStore.ts │ │ └── subsystemStore.ts │ ├── ui │ │ ├── accordion │ │ │ ├── accordion-content.svelte │ │ │ ├── accordion-item.svelte │ │ │ ├── accordion-trigger.svelte │ │ │ └── index.ts │ │ ├── button │ │ │ ├── button.svelte │ │ │ └── index.ts │ │ ├── context-menu │ │ │ ├── context-menu-checkbox-item.svelte │ │ │ ├── context-menu-content.svelte │ │ │ ├── context-menu-item.svelte │ │ │ ├── context-menu-label.svelte │ │ │ ├── context-menu-radio-group.svelte │ │ │ ├── context-menu-radio-item.svelte │ │ │ ├── context-menu-separator.svelte │ │ │ ├── context-menu-shortcut.svelte │ │ │ ├── context-menu-sub-content.svelte │ │ │ ├── context-menu-sub-trigger.svelte │ │ │ └── index.ts │ │ ├── dialog │ │ │ ├── dialog-content.svelte │ │ │ ├── dialog-description.svelte │ │ │ ├── dialog-footer.svelte │ │ │ ├── dialog-header.svelte │ │ │ ├── dialog-overlay.svelte │ │ │ ├── dialog-portal.svelte │ │ │ ├── dialog-title.svelte │ │ │ └── index.ts │ │ ├── dot │ │ │ ├── dot.svelte │ │ │ └── index.ts │ │ ├── input │ │ │ ├── index.ts │ │ │ └── input.svelte │ │ ├── label │ │ │ ├── index.ts │ │ │ └── label.svelte │ │ ├── lazy-loaded-list │ │ │ ├── index.ts │ │ │ └── lazy-loaded-list.svelte │ │ ├── skeleton │ │ │ ├── index.ts │ │ │ └── skeleton.svelte │ │ ├── switch │ │ │ ├── index.ts │ │ │ └── switch.svelte │ │ └── terminal 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